Structure from Motion for Scenes with
Large Duplicate Structures

This is the index page – all supplementary material, comprising a
more detailed algorithm derivation and additional results included for
completeness, may be reached from this page.

Derivation of Consistent Majority Optimization

[ PDF ] In this document we provide
a full derivation of the EM algorithm presented in Section 3 of the
main paper.

Additional Results

In this section we demonstrate results on several data sets that we
could not include in the paper due to space constraints, and provide
high-resolution images and videos for those in the paper.
Additionally, for readers interested in a comparison with the
open-source Bundler
pipeline [citation] on these datasets, we include this for the
sake of completeness. In the main paper, we instead compare with
a proprietary pipeline that generally performs as well as or better
than bundler on these datasets.

Click on images to open high-resolution versions. Also note
that some datasets include animations. These are encoded with DivX, but also play with the codecs built-in to VLC.